Vibratory conveyor with three-component oscillations provides the opportunity to move the piece goods and details for any trajectory on a plane. Phase difference between independent horizontal (longitudinal or transverse) and vertical (normal) oscillations releases elliptical vibration of conveyor in plane perpendicular to the conveyor's track. Elliptical vibrations allow increasing conveying velocity and inclination angle of conveyor's track in comparison with the simplest linear vibrations. Three-component oscillations of the conveyor's track are implemented by independent exciters of oscillations in the direction of conveying (longitudinal oscillations), oscillations in the direction perpendicular to conveying in plane (transverse oscillations) and oscillations in the direction perpendicular to conveying plane (normal oscillations) with phase difference between them. Conveying velocity of details moving upon the track varies with the change of phase difference angle and reaches a maximum with a certain angle, depending on several parameters. When electromagnetic exciters of longitudinal and normal oscillations are turned on, conveying details move in longitudinal direction. When electromagnetic exciters of transverse and normal oscillations are turned on, conveying details move in transverse direction. When electromagnetic exciters of longitudinal and transverse oscillations are turned on, conveying details rotate around their axes. When all three exciters are turned on, conveying details move at any trajectory. The change in the ratio of longitudinal and transverse amplitudes and phase difference angles between them allows changing the trajectory of details moving on conveyor's track, making them not only move forward but rotate as well. That's why such conveyor can be called a manipulator. The resilient system of two-mass vibratory conveyor-manipulator with three-component oscillations should have elastic pliability in three mutually perpendicular directions. It includes four resilient elements; each of them consists of two latticed leaf springs, fixed at the right angle to each other. The working body with conveying track is joined with reactive frame by resilient elements. Electromagnetic drive includes four electromagnetic exciters of longitudinal oscillations, four electromagnetic exciters of transverse oscillations and one electromagnetic exciter of normal oscillations. The bodies of electromagnets are fixed on the reactive frame and their anchors are fixed on the working body of conveyor-manipulator. A block diagram of the electrical control of conveyor-manipulator is referred. A voltage is supplied from two phases of three-phase electricity to the coils of electromagnets through diodes, auto-transformers, switches and phase-shifter. The amplitudes of oscillations are regulated with aid of auto-transformers, phase difference between them and the change of conveying modes are carried by switches and phase-shifter. The oscillating system of vibratory conveyor-manipulator has six degrees of freedom and respectively six frequencies of natural oscillation. The formulas for calculating the vibratory conveyor-manipulator's frequencies of natural oscillation are derived. Vibratory conveyor-manipulator with three-component electromagnetic drive was designed and manufactured. Its research and testing show the possibility of conveying details and piece goods at any trajectory.

Vibratory conveying devices with electromagnetic drive are widely used in the different branches of industry. As a rule, they deal with relatively small piece goods and are not suitable for conveying of the large massive goods with high productivity. The conveying of massive piece goods needs the using of non-hopping modes of moving in which the high velocity can be reached only in the case of non-linear vibration trajectories of the conveying track, for example elliptical trajectories. Such trajectories are obtained by using of the independent drives of horizontal and vertical oscillations. Even greater velocity can be reached by using biharmonic vertical oscillation with particular optimal relations between amplitudes and phase differences of the component oscillations. These types of devices can be designed on a basis of three-mass oscillating system. Theoretical and experimental investigations show that the goods' mass change significantly affects the vertical oscillations and weakly affects the horizontal oscillations. And at the certain relations between masses ratio and resonant tuning (ratio of frequencies of forced and natural oscillations) the vertical oscillations of active mass of two-mass vibratory device are insensitive to the change of goods' mass. The sensitivity of vibratory conveying stability to the goods' mass change was investigated for two-mass vibratory devices with elliptical oscillations. Three-mass oscillating systems with biharmonic oscillations in the point of view of the sensitivity to the goods' mass changing were not considered. Analysis of different three-mass oscillating systems with electromagnetic drives of harmonic horizontal and biharmonic vertical oscillations allows determining two most preferable versions. The equations for amplitudes of components and frequencies of natural oscillations determining are derived. From the condition of insensitivity to conveying mass change the optimal relations between masses ratio and resonant tuning are obtained.

The piece goods conveying by the vibratory conveyor with elliptical oscillations is considered. Elliptical oscillations of the conveyor track are realized when conveyor has independent drives of oscillations in the direction of conveying (longitudinal oscillations) and oscillations in the direction perpendicular to conveying plane (normal oscillations) with phase difference between them. Elliptical oscillations allow increasing conveying velocity and inclination angle of conveyor track in comparison with the simplest linear oscillations. Conveying velocity of parts moving along the track of conveyor varies with the change of phase difference angle and reaches a maximum with a certain angle, depending on several different parameters. This angle is called the optimal phase difference angle, and it depends on the amplitudes and frequency of the component oscillations, the track inclination angle, the frictional properties, impact parameters of conveying parts. As the experimental investigations have shown, the piece goods conveying is quite accurately described by the theory of a massive point particle moving on an inclined plane under the action of vibration. A system of nonlinear differential equations describing the conveying in continuous contact modes and in modes with hopping was composed. This system has been solved by gradual integration method with numerical calculation with any desired accuracy. This allowed us to study the dependence of conveying velocity on different parameters in the form of graphs. And for greater generality the study was conducted in dimensionless parameters. There were studied in detail the influence of dimensionless parameters on dimensionless velocity - the coefficient of velocity that is the ratio of conveying velocity to amplitude of longitudinal oscillations with a constant frequency. To verify the obtained dependences, the experimental investigations of conveying velocity were carried out on vibratory conveyor with removable tracks. The conveyor was fastened on the turntable, the inclination of which was varied by a screw jack. The amplitude of the component oscillations was varied by changing voltage applied to the electromagnetic drives, the phase difference between component oscillations was varied by the phase shifter. Waveforms of oscillations were recorded by vibration measurement equipment. The coefficient of friction was measured directly during conveying. The velocity was measured by the stopwatch. The comparison of experimental results with theoretical data has shown the excellent agreement in continuous contact modes and the acceptable match in modes with hopping. Based on the obtained graphs, the approximate formulas for calculating velocity and optimal phase difference angle were derived. The influence of frictional properties of the conveying parts, namely, the coefficient of friction on optimal in terms of velocity phase difference angle between the longitudinal and normal components of the elliptical oscillations is investigated. It is shown that the optimal phase difference angle decreases with the increase in the coefficient of friction. The approximate formula of optimal phase difference angle dependence on the coefficient of friction and track inclination angle is derived.

The paper is devoted to the research of vibratory conveying of piece goods along an inclined track, performing harmonic longitudinal and polyharmonic normal vibrations. It is considered the conditions of reaching maximum conveying velocity at specified values of frequency and amplitude of longitudinal vibrations - the conditions of maximum dimensionless conveying velocity, depending on several dimensionless parameters in the moving modes without hopping. These dimensionless parameters are the inclination angle parameter - a ratio of an inclination angle tangent to a frictional coefficient, the intensive vibration coefficient - a ratio of the longitudinal amplitude of vibration to the amplitude of the first harmonic of normal vibration and frictional coefficient. Maximal conveying velocity is achieved at the certain values of normal vibration amplitudes and values of phase difference angles between longitudinal and normal vibrations, which are called optimal, and their values are dependent on these two dimensionless parameters, while maximum normal vibration acceleration should be equal to the gravitational acceleration. The research was made by approximate harmonic balance method and by numerical step-by-step integration method, which allows performing calculations with any given accuracy. The results obtained by the two methods are compared. To determine the maximal and optimal values of elevation angles, there are calculated the maximal value of the inclination angle parameter at which the value of dimensionless velocity is equal to zero, and the value of the inclination angle parameter at which a particle moves to a specified height in the minimum time. The optimal values of amplitudes of harmonics of polyharmonic normal vibration are determined in dependence on the inclination angle parameter with the number of harmonics from four to seven. The graphs of these dependencies are presented and the most important values of dimensionless parameters are presented in the table.